Control System Design Of Water Quality Sampling Unmanned Ship

According to statistics from China's water quality supervision department,overdose poisonous and harmful chemical substance are found in most of China's waters.Even groundwater has also suffered serious damage.However,in traditional water quality sampling,there are problems such as high cost,long cycle,poor security and limited operating area.Under the background of intelligent development,the use of unmanned boats presents unique advantages and has drawn great attention.Many countries are also actively.carrying out relevant research.The development of unmanned ship control system has a strong strategic significance and application value.In this paper,the two-motor-driven hull is taken as the object of control.According to the problems existing in the traditional water quality sampling method,the method of using water quality sampling unmanned ship instead of traditional artificial water operation is put forward,and a set of water quality unmanned boat system is designed according to the demand of water quality sampling.The motion model of the ship is analyzed.The selection and layout of the motor,power supply,control system and GPS,ultrasonic and attitude sensor are put forward.Attitude data and positioning data are used to control the speed and direction of unmanned ships to achieve the unmanned cruise ship autonomous navigation function.In view of the demand of water quality sampling,a design scheme of wireless multi-ship water quality sampling control system is proposed.It achieved automatic sampling and on-line monitoring in designated time and area of water quality;it designed unmanned ground control system,and developed a communication protocol between ground station and unmanned boat,as well as between the long-distance control of the ship and the real-time communication of the feedback data,to tackle the stability control problem of the unmanned ship,the paper proposes the strategy of arranging the transition process to improve the algorithm.The simulation and test results show that the improved strategy is effective in solving the contradiction between overshoot and fastness,so that it is very effective and improves the response speed while strengthening the PID control robustness,stability and anti-jamming capability.All of these makes the output of unmanned boat control system more stable.Unmanned ship were tested by manual and autonomous cruise in the mangrove in Dong-Po Lake,Hainan University.Fixed sampling was also conducted.We successfully completed the sample collection and monitoring tasks,and fully verify the stability of manual automatic control.